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fix Lua example

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This commit is contained in:
Erwin Coumans
2016-03-10 21:15:23 -08:00
parent efbb1edecc
commit c69524be9e
2 changed files with 22 additions and 6 deletions
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7
examples/ExampleBrowser/premake4.lua
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@@ -178,6 +178,13 @@ project "App_BulletExampleBrowser"
} }
end end
if _OPTIONS["lua"] then
includedirs{"../ThirdPartyLibs/lua-5.2.3/src"}
links {"lua-5.2.3"}
defines {"ENABLE_LUA"}
files {"../LuaDemo/LuaPhysicsSetup.cpp"}
end
files { files {
"main.cpp", "main.cpp",
"ExampleEntries.cpp", "ExampleEntries.cpp",

21
examples/LuaDemo/LuaPhysicsSetup.cpp
View File

@@ -2,7 +2,7 @@
#include "../CommonInterfaces/CommonMultiBodyBase.h" #include "../CommonInterfaces/CommonMultiBodyBase.h"
#include "../Importers/ImportURDFDemo/MyURDFImporter.h" #include "../Importers/ImportURDFDemo/BulletURDFImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h" #include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h" #include "../Importers/ImportURDFDemo/URDF2Bullet.h"
@@ -39,7 +39,12 @@ extern "C" {
} }
const char* sLuaFileName = "init_urdf.lua";//init_physics.lua"; const char* sLuaFileName = "init_physics.lua";
static int upaxis = 1;
//const char* sLuaFileName = "init_urdf.lua";
//static int upaxis = 2;
static const float scaling=0.35f; static const float scaling=0.35f;
static LuaPhysicsSetup* sLuaDemo = 0; static LuaPhysicsSetup* sLuaDemo = 0;
@@ -69,7 +74,10 @@ LuaPhysicsSetup::~LuaPhysicsSetup()
static int gCreateDefaultDynamicsWorld(lua_State *L) static int gCreateDefaultDynamicsWorld(lua_State *L)
{ {
sLuaDemo->createEmptyDynamicsWorld(); sLuaDemo->createEmptyDynamicsWorld();
sLuaDemo->m_dynamicsWorld->setGravity(btVector3(0,0,-10)); btVector3 grav(0,0,0);
grav[upaxis] = -10;
sLuaDemo->m_dynamicsWorld->setGravity(grav);
sLuaDemo->m_guiHelper->createPhysicsDebugDrawer(sLuaDemo->m_dynamicsWorld); sLuaDemo->m_guiHelper->createPhysicsDebugDrawer(sLuaDemo->m_dynamicsWorld);
lua_pushlightuserdata (L, sLuaDemo->m_dynamicsWorld); lua_pushlightuserdata (L, sLuaDemo->m_dynamicsWorld);
return 1; return 1;
@@ -211,8 +219,8 @@ static int gLoadMultiBodyFromUrdf(lua_State *L)
return 0; return 0;
} }
const char* fileName = lua_tostring(L,2); const char* fileName = lua_tostring(L,2);
#if 1
MyURDFImporter u2b(sLuaDemo->m_guiHelper); BulletURDFImporter u2b(sLuaDemo->m_guiHelper);
bool loadOk = u2b.loadURDF(fileName); bool loadOk = u2b.loadURDF(fileName);
if (loadOk) if (loadOk)
{ {
@@ -240,6 +248,7 @@ static int gLoadMultiBodyFromUrdf(lua_State *L)
{ {
b3Printf("can't find %s",fileName); b3Printf("can't find %s",fileName);
} }
#endif
} }
return 0; return 0;
@@ -377,7 +386,7 @@ static void report_errors(lua_State *L, int status)
void LuaPhysicsSetup::initPhysics() void LuaPhysicsSetup::initPhysics()
{ {
m_guiHelper->setUpAxis(2); m_guiHelper->setUpAxis(upaxis);
const char* prefix[]={"./","./data/","../data/","../../data/","../../../data/","../../../../data/"}; const char* prefix[]={"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
int numPrefixes = sizeof(prefix)/sizeof(const char*); int numPrefixes = sizeof(prefix)/sizeof(const char*);
char relativeFileName[1024]; char relativeFileName[1024];